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本报告介绍了大型挠性多体空间系统的解析公式和通用的动力及控制仿真程序的研究。所有的体在结构上都是桡性的,并且用具有能大角度联接的扭转弹簧和阻尼器的万向饺链内接。控制力和力矩可以作用在各体的特定位置或确定的万向轴上。边界条件随时问变化的这些挠性内接体的动态特性是用准静态的方法建模的。用摄动法使系统的动力非线性线性化,这种方法可使设想为完全刚性的系统的标称运动从受结构挠性影响的扰动运动中分离出来。直接路线方法可通过刚体和弹性运动关系有效地将单个体的动力变量转换成系统的动力变量,并可系统地耦合刚体运动和结构振动。扰动运动的线性化系统动力方程有作为标称运动函数的随时间变化的系数矩阵。牛顿方法和拉格朗日方法在公式推导中各有优缺点。这个称为ALLFLEX的程序同用于模态信息转换的结构动力程序和用于控制系统设计的广义稳定性分析程序相接。
This report describes the analytical equations for large flexible multibody systems and the study of general dynamics and control simulation programs. All bodies are radial in construction and are inscribed in a universal dumpling chain with torsion springs and dampers that provide high angle coupling. Control and torque can be applied to a specific position of each body or a defined cardan shaft. The dynamic behavior of these flexible inner bodies, whose boundary conditions change over time, is modeled using a quasi-static method. The perturbation method is used to linearize the dynamics of the system. This method allows the nominal motion of a system assumed to be completely rigid to be separated from the perturbed motion affected by the structural flexibility. The direct route method effectively transforms the dynamic variables of a single body into the dynamic variables of the system through the rigid-body and elastic-motion relationship and can systematically couple rigid body motion and structural vibration. The linearized system dynamics equations for perturbed motions have coefficient matrices that change over time as a function of nominal motions. Newton’s method and Lagrange’s method have their own advantages and disadvantages in formula derivation. This program, called ALLFLEX, interfaces with the structural dynamics for modal transformation and the generalized stability analysis program for control system design.